EP0950984A3 - A moving body recognition apparatus - Google Patents

A moving body recognition apparatus Download PDF

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Publication number
EP0950984A3
EP0950984A3 EP99113513A EP99113513A EP0950984A3 EP 0950984 A3 EP0950984 A3 EP 0950984A3 EP 99113513 A EP99113513 A EP 99113513A EP 99113513 A EP99113513 A EP 99113513A EP 0950984 A3 EP0950984 A3 EP 0950984A3
Authority
EP
European Patent Office
Prior art keywords
feature points
moving body
rotation
instants
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP99113513A
Other languages
German (de)
French (fr)
Other versions
EP0950984A2 (en
Inventor
Hiroshi Fujitsu Limited Kamada
Takashi Fujitsu Limited Kubota
Morito Fujitsu Limited Shiohara
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujitsu Ltd
Original Assignee
Fujitsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP3236466A external-priority patent/JP2873339B2/en
Priority claimed from JP3236467A external-priority patent/JPH0573682A/en
Priority claimed from JP3236464A external-priority patent/JP2873337B2/en
Priority claimed from JP30059191A external-priority patent/JP3028986B2/en
Application filed by Fujitsu Ltd filed Critical Fujitsu Ltd
Publication of EP0950984A2 publication Critical patent/EP0950984A2/en
Publication of EP0950984A3 publication Critical patent/EP0950984A3/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/757—Matching configurations of points or features
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • Medical Informatics (AREA)
  • Evolutionary Computation (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Psychiatry (AREA)
  • Social Psychology (AREA)
  • Human Computer Interaction (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A moving body recognition apparatus for recognizing a movement of a moving body by positions of feature points on the moving body, comprising: image input means (15,21,24) for capturing images of the moving body as an object (20); feature point extraction means (16,25) for extracting feature points in the images captured by the image input means (15,21,24); and feature point position storage means (17,26) for storing known position data of extracted feature points; characterised by shape/movement recognition means (18,27) for receiving the known position data of four feature points of the object (20) each in the images captured at any three instants in time, for applying a condition indicating that the object rotates and moves, that the four feature points of the object do not exist on a single plane, that any axis of rotation of the object is not parallel to a direction of an orthogonal projection of the object between any two of the three instants in time, and that a rotation of the object between any two of the three instants in time is not a rotation by an angle of one hundred and eighty degrees around an axis parallel to a plane on which the orthogonal projection is made, for calculating a rotation amount of the object around an axis of rotation from the known position data of four feature points of the object at the three instants in time, and for calculating actual positions of the feature points of the object (20).
EP99113513A 1991-09-17 1992-09-17 A moving body recognition apparatus Withdrawn EP0950984A3 (en)

Applications Claiming Priority (11)

Application Number Priority Date Filing Date Title
JP23646791 1991-09-17
JP3236465A JP2873338B2 (en) 1991-09-17 1991-09-17 Moving object recognition device
JP3236466A JP2873339B2 (en) 1991-09-17 1991-09-17 Moving object recognition device
JP3236467A JPH0573682A (en) 1991-09-17 1991-09-17 Moving object recognizing device
JP3236464A JP2873337B2 (en) 1991-09-17 1991-09-17 Moving object recognition device
JP30059191 1991-09-17
JP23646691 1991-09-17
JP23646591 1991-09-17
JP23646491 1991-09-17
JP30059191A JP3028986B2 (en) 1991-11-15 1991-11-15 Moving object recognition device
EP92308486A EP0533477B1 (en) 1991-09-17 1992-09-17 A moving body recognition apparatus

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP92308486A Division EP0533477B1 (en) 1991-09-17 1992-09-17 A moving body recognition apparatus

Publications (2)

Publication Number Publication Date
EP0950984A2 EP0950984A2 (en) 1999-10-20
EP0950984A3 true EP0950984A3 (en) 2003-02-26

Family

ID=27529968

Family Applications (4)

Application Number Title Priority Date Filing Date
EP92308486A Expired - Lifetime EP0533477B1 (en) 1991-09-17 1992-09-17 A moving body recognition apparatus
EP99113512A Withdrawn EP0952551A3 (en) 1991-09-17 1992-09-17 A moving body recognition apparatus
EP99113511A Withdrawn EP0952550A3 (en) 1991-09-17 1992-09-17 A moving body recognition apparatus
EP99113513A Withdrawn EP0950984A3 (en) 1991-09-17 1992-09-17 A moving body recognition apparatus

Family Applications Before (3)

Application Number Title Priority Date Filing Date
EP92308486A Expired - Lifetime EP0533477B1 (en) 1991-09-17 1992-09-17 A moving body recognition apparatus
EP99113512A Withdrawn EP0952551A3 (en) 1991-09-17 1992-09-17 A moving body recognition apparatus
EP99113511A Withdrawn EP0952550A3 (en) 1991-09-17 1992-09-17 A moving body recognition apparatus

Country Status (5)

Country Link
US (4) US5444791A (en)
EP (4) EP0533477B1 (en)
JP (1) JP2873338B2 (en)
CA (1) CA2078503C (en)
DE (1) DE69231826T2 (en)

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Also Published As

Publication number Publication date
DE69231826D1 (en) 2001-06-21
CA2078503C (en) 1996-08-13
EP0952551A2 (en) 1999-10-27
US5872858A (en) 1999-02-16
EP0533477B1 (en) 2001-05-16
JPH0573680A (en) 1993-03-26
JP2873338B2 (en) 1999-03-24
DE69231826T2 (en) 2001-09-06
EP0950984A2 (en) 1999-10-20
EP0533477A3 (en) 1994-08-17
CA2078503A1 (en) 1993-03-18
EP0952551A3 (en) 2003-02-26
US5625702A (en) 1997-04-29
EP0952550A3 (en) 2003-11-05
US5444791A (en) 1995-08-22
EP0952550A2 (en) 1999-10-27
US5684886A (en) 1997-11-04
EP0533477A2 (en) 1993-03-24

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